CN109436119A - A kind of non-contact wheeled climbing robot base apparatus - Google Patents
A kind of non-contact wheeled climbing robot base apparatus Download PDFInfo
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- CN109436119A CN109436119A CN201811359783.7A CN201811359783A CN109436119A CN 109436119 A CN109436119 A CN 109436119A CN 201811359783 A CN201811359783 A CN 201811359783A CN 109436119 A CN109436119 A CN 109436119A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention discloses a kind of non-contact wheeled climbing robot base apparatus, it is related to climbing robot field, the device uses differential steering formula driving structure, two driving wheels, driven wheel is diagonally arranged, so that vehicle driving force distributed more balances, improve the stationarity and reliability climbed when wallflow is walked, using contactless absorbing unit, whole permanent magnets provide adsorption capacity simultaneously, avoid the problem of magnet utilization rate deficiency in conventional track absorption and magnet-wheel adsorption scheme, the advantage of caterpillar chassis and magnetic wheel type chassis is combined, effectively overcome the contradiction of mutual exclusion between the adsorption capacity and walking resistance on existing climbing robot chassis, effectively reduce overall weight, reduce walking resistance, achieve the effect that energy saving and efficiency increasing.
Description
Technical field
The present invention relates to climbing robot field, especially a kind of non-contact wheeled climbing robot base apparatus.
Background technique
Climbing robot combines adsorption technology and mobile robot technology, can be in inclination, vertical or handstand wall
Flexible motion on face, and carry certain equipment and be automatically performed and the tasks such as move, turn to, detecting, scrubbing, it can replace manually in pole
Dangerous task is completed under the conditions of limit, realizes intelligent operation, improves production efficiency, reduces Labor Risk.With advances in technology
With going deep into for research, climbing robot gradually starts to apply in fields such as ship, petrochemical industry, nuclear power, building and security against fires.
Climbing robot must have wall adsorption, three basic functions of walking and operation are climbed according to the difference of suction type
Wall robot can be divided mainly into two classes: magnetic suck type climbing robot and negative-pressure adsorption type climbing robot.In view of magnet can
The advantages such as high, small in size by property, the climbing robot based on magnetic suck principle gradually become following the main direction of development.At present
Most magnetic adsorption wall climbing robots are all made of the chassis of crawler type or magnetic wheel type, and the magnetic adsorption wall climbing robot of caterpillar chassis can
To generate very big adsorption capacity, so that robot is not easily to fall off or topples, but its steering capability is very poor, crossing over blockage ability
Deficiency, it is more demanding to work wall surface；The climbing robot steering behaviour on magnetic wheel type chassis is preferable, but due to magnet-wheel scale
Limitation causes adsorption capacity insufficient, cannot undertake compared with big load.
Summary of the invention
The present inventor regarding to the issue above and technical need, proposes a kind of non-contact wheeled climbing robot chassis dress
It sets, effectively overcomes the contradiction of mutual exclusion between the adsorption capacity and walking resistance on existing climbing robot chassis, avoid
The problem of magnet utilization rate deficiency in conventional track absorption and magnet-wheel adsorption scheme, so that chassis is lighter, adsorption capacity is bigger, walking
Resistance is smaller, achievees the effect that energy saving and efficiency increasing.
Technical scheme is as follows:
A kind of non-contact wheeled climbing robot base apparatus, the base apparatus include vehicle frame, drive system and two groups forever
Magnetic suck component；Vehicle frame includes positioned at two stringers of climbing robot two sides and under two of climbing robot both ends
Crossbeam, each lower beam weld together with two stringers of two sides respectively；Drive system includes two driving motors, two drives
Diagonal, two adjustable universal wheel settings of vehicle frame are arranged in driving wheel and two adjustable universal wheels, two driving wheels
Another in vehicle frame is diagonal；Two driving motors are fixed on vehicle frame, and each driving motor is separately connected and drives a drive
Driving wheel；On the lower beam at the both ends that two groups of permanent magnetic suck components are separately positioned on vehicle frame, wrapped respectively in every group of permanent magnetic suck component
Permanent magnet is included, is spaced a predetermined distance between permanent magnet and work wall surface, the wall surface that works is true for driving wheel and adjustable universal wheel institute
Fixed plane.
Its further technical solution is that adjustable universal wheel includes swivel base, connecting plate, adjustable plate, spring and wheel body；Even
The top connection swivel base of fishplate bar, bottom connect adjustable plate, and swivel base and connecting plate are rotatablely connected by the first rotation axis, connecting plate and
One end of adjustable plate is rotatablely connected by the second rotation axis, and the second end of adjustable plate connects wheel body, and one end of spring is fixed on company
On fishplate bar, the other end be fixed on connecting plate and adjustable plate connecting place；Adjustable universal wheel is fixed on vehicle frame by swivel base, and first
Rotation axis is parallel to work wall surface perpendicular to work wall surface, the second rotation axis, and connecting plate is by adjustable plate drive wheel body around the
The rotation of one rotation axis, which is realized, to be turned to, and adjustable plate drives wheel body to realize the liter relative to work wall surface around the rotation of the second rotation axis
Drop.
Its further technical solution is, including at least two absorbing units, each absorption in each permanent magnetic suck component
Unit includes magnetic support, permanent magnet, at least two multi-directional balls and connection component, and the side of magnetic support passes through connection component connecting vehicle frame
Lower beam, the other side of magnetic support is provided with permanent magnet and at least two multi-directional balls, and at least two multi-directional balls are distributed in permanent magnet
Surrounding, at least two multi-directional balls relative to where permanent magnet plane protrude preset distance, at least two multi-directional balls and work
Wall surface is in contact so that being spaced a predetermined distance between permanent magnet and work wall surface.
Its further technical solution is that the surface encapsulation of permanent magnet has rubber pad, is packaged with the permanent magnetism Tie Tong of rubber pad
It crosses magnetic bracket to be fixed on magnetic support, magnetic support is made of magnetic conductive material, and Antimagnetic material is respectively adopted in magnetic bracket and multi-directional ball
It is made.
Its further technical solution is that connection component uses spring link structure, is passed through between connection component and magnetic support
Bulb joint connection, bulb joint are made of Antimagnetic material.
The method have the benefit that:
This application discloses a kind of non-contact wheeled climbing robot base apparatus, by caterpillar chassis and magnetic wheel type chassis
Advantage combine, effectively overcome the lance of mutual exclusion between the adsorption capacity and walking resistance on existing climbing robot chassis
Shield, using contactless absorbing unit, whole permanent magnets provide adsorption capacity simultaneously, avoid conventional track absorption and magnet-wheel is inhaled
The problem of magnet utilization rate deficiency, effectively reduces overall weight, reduces walking resistance, reach energy saving and efficiency increasing in subsidiary formula case
Effect.
The application uses differential steering formula driving structure, and two driving wheels, driven wheel are diagonally arranged, so that vehicle drives
Power distribution more balances, and improves the stationarity and reliability climbed when wallflow is walked.Adjustable height universal wheel and angle can
Mode absorbing unit effectively constitutes the Adaptable System on chassis, improves excessively bent, the mistake barrier ability of climbing robot.
Detailed description of the invention
Fig. 1 is that non-contact wheeled climbing robot base apparatus disclosed in the present application turns distribution structure figure.
Fig. 2 is the structure chart of the vehicle frame of base apparatus.
Fig. 3 is the scheme of installation of driving wheel and adjustable universal wheel.
Fig. 4 is the structural schematic diagram of driving wheel.
Fig. 5 is the diagrammatic cross-section of driving wheel.
Fig. 6 is the structural schematic diagram of adjustable universal wheel.
Fig. 7 is the structural schematic diagram of absorbing unit.
Fig. 8 is the diagrammatic cross-section of absorbing unit.
Magnet gap schematic diagram when Fig. 9 is cylindrical shell axis walking of the climbing robot along cylindrical workpiece.
The schematic diagram of adjusting angle when Figure 10 is cylindrical shell axis walking of the climbing robot along cylindrical workpiece.
Specific embodiment
The following further describes the specific embodiments of the present invention with reference to the drawings.
This application discloses a kind of non-contact wheeled climbing robot base apparatus, the assembly structure figure of the base apparatus is asked
With reference to Fig. 1, which mainly includes vehicle frame 10, drive system 20 and two groups of permanent magnetic suck components 30.Vehicle frame 10 is entire
The carrying platform of base apparatus, structure chart is referring to FIG. 2, vehicle frame 10 includes two stringers positioned at climbing robot two sides
11, two upper beams 13 positioned at two lower beams 12 at climbing robot both ends and at the top of base apparatus, lower beam
12 and two stringers 11 of the upper beam 13 respectively with two sides weld together, constitute H-type structure, lower beam 12 is for arranging permanent magnetism
Absorbent module 30, while playing the role of reinforcing vehicle frame 10 together with upper beam 13.
Drive system 20 includes two driving motors, 21, two driving wheels 22 and two adjustable universal wheels 23.This Shen
Please in drive system 20 use four-wheel differentia steering-type driving structure, as shown in figure 3, two driving wheels 22 are arranged in vehicle frame 10
One diagonal, two adjustable universal wheels 23 be arranged in vehicle frame 10 another is diagonal, arrow is directed toward vehicle of climbing robot
Head direction, 2 black blocks indicate that two driving wheels 22, two white blocks indicate two adjustable universal wheels 23.Driving wheel
22 structure please refers to Fig. 4 and Fig. 5, and driving wheel 22 includes rubber tire 221, bearing 222, wheel shaft 223, bearing block 224 and sprocket wheel
225, rubber tire 221 is connect with wheel shaft 223 by flat key, and bearing block 224 is installed on inside, passes through double-row bearing 222 and wheel shaft 223
Connection, 224 both ends of bearing block connect firmly vehicle frame 10 by bolt.Each driving wheel 22 passes through sprocket wheel and chain and a driving respectively
Motor 21 connects, and driving motor 21 drives corresponding driving wheel 22.Two driving motors 21 are each attached on vehicle frame 10, when two
When the speed of driving motor 21 is identical, climbing robot keeps straight-line travelling, and when two motor speed differences, that is, it is poor to exist
Speed, climbing robot, which is realized, to be turned to.Adjustable universal wheel 23 has steering and height certainly as the driven wheel in drive system 20
Adaptive functions, structure is referring to FIG. 6, adjustable universal wheel 23 includes swivel base 231, connecting plate 232, adjustable plate 233, spring
234 and wheel body 235.The top connection swivel base 231 of connecting plate 232, bottom connect adjustable plate 233, swivel base 231 and connecting plate 232
It being rotatablely connected by the first rotation axis 236, swivel base 231 usually connect and installs bearing using pin shaft with connecting plate 232, so that
Connecting plate 232 can be around the first rotation automatically of rotation axis 236.One end of connecting plate 232 and adjustable plate 233 passes through the second rotation
Axis 237 is rotatablely connected, and the second end of adjustable plate 233 connects wheel body 235, and one end of spring 234 is fixed on connecting plate 232, is another
One end is fixed on connecting plate 232 and 233 connecting place of adjustable plate, and the structure of wheel body 235 is similar with driving wheel 22, mainly includes glue
Wheel, wheel shaft and bearing, rubber tire are connected by bearing with wheel shaft.Swivel base 231 connects firmly vehicle frame 10, the first rotation axis 236 by bolt
Perpendicular to work wall surface, the second rotation axis 237 is parallel to work wall surface, and work wall surface is driving wheel 22 and adjustable universal wheel 23
The wall surface to be walked of identified plane namely climbing robot.Swivel base 231 realizes adjustable universal with connecting plate 232
The turning function of wheel 23, connecting plate 232 drive wheel body 235 to turn around the rotation realization of the first rotation axis 236 by adjustable plate 233
To connecting plate 232, adjustable plate 233 and spring 234 realize the height adaptation function of adjustable universal wheel 23, adjustable plate 233
Wheel body 235 is driven to realize the lifting relative to work wall surface around the rotation of the second rotation axis 237, then when climbing robot is in curved surface
Or there are the wall surface of pit walking when, spring 234 elongates or shortens automatically, it is ensured that adjustable universal wheel 23 always with work wall surface
Contact.
Two groups of permanent magnetic suck components 30 are separately positioned on the lower beam 12 at the both ends of vehicle frame 10, every group of permanent magnetic suck component
Permanent magnet is respectively included in 30, in this application, every group of permanent magnetic suck component 30 includes at least two absorbing units 31, each suction
Permanent magnet is respectively included in coupon member 31, Fig. 1 shows the signal in every group of permanent magnetic suck component 30 including 3 absorbing units 31
Figure.The structure chart of each absorbing unit 31 of the application please refers to Fig. 7 and Fig. 8, and each absorbing unit 31 includes magnetic support 311, permanent magnetism
Iron 312, at least two multi-directional balls 313 and connection component 314.Magnetic support 311 is made of magnetic conductive material, has the function of yoke
Can, permanent magnet 312 and multi-directional ball 313 are installed on magnetic support 311 and are mounted on the same side of magnetic support 311, specifically, permanent magnet
312 surface encapsulation has rubber pad 315, and the permanent magnet 312 for being packaged with rubber pad 315 is fixed by magnetic bracket 316 using bolt
On magnetic support 311, to protect permanent magnet 312, prevent from colliding with, magnetic bracket 316 is made of Antimagnetic material.Multi-directional ball 313
Also it is made of Antimagnetic material, is distributed in the surrounding of permanent magnet 312 and is mounted on magnetic support 311, top spiral shell can be passed through
Bar is connect with magnetic support 311, and the application is for including four multi-directional balls being arranged in around permanent magnet 312 313, multi-directional ball 313
Preset distance is protruded relative to the plane where permanent magnet 312, by the pre- spacing for adjusting the adjustable protrusion of upper screw
From multi-directional ball 313 is mainly used for supporting magnetic support 311, is in contact with work wall surface so that between permanent magnet and work wall surface
Every preset distance, the spacing for guaranteeing permanent magnet 312 between the wall surface that works.Magnetic support 311 is relative to permanent magnet 312 and multi-directional ball
313 other side passes through the lower beam 12 of 314 connecting vehicle frame 10 of connection component, and connection component 314 uses spring link structure, is
One is arranged with the connecting rod of spring, is connected between connection component 314 and magnetic support 311 by bulb joint 317, has gimbal function,
Bulb joint 317 is made of Antimagnetic material, can bear radially, axially load, and it is dynamic to be mainly used for 311 automatic adjusument of magnetic support
Make.As shown in fig. 7, also passing through 314 liang of connection component between magnetic support 311 and vehicle frame 10 other than being connected by connection component 314
The gag lever post 318 of side is connected, and gag lever post 318 can prevent magnetic support 311 in climbing robot motion process rotary oscillation.Normal work
When making, spring is in compressive state in spring link structure, it is ensured that permanent magnet 312 is kept constant with the work wall surface being adsorbed always
Spacing, when climbing robot is walked on curved surface, magnetic support 311 is freely turned by the bulb joint 317 in spring link structure
To adaptation curve form guarantees adsorption capacity size.
The base apparatus is the significant components of climbing robot, in practical application, need according to specific design requirement, into
The parameters such as magnet mounting height are calculated and determined in row magnet gap, adjusting angle, and the application gives above-mentioned various parameters really
Determine thinking:
(1), the determination of magnet gap.Magnet gap refers to the distance between permanent magnet and work wall surface, it is directly determined
Climbing robot crosses Qu Nengli, needs to be adapted to according to climbing robot curved surface to require to carry out calculating determination.What gap determined
Principle is: in the case where guaranteeing not interfere, gap is small as far as possible, and is not more than magnetic air gap design value.When specific calculating,
Can choose most dangerous working condition analyzed namely climbing robot along cylindrical workpiece cylindrical shell axis walking when operating condition, ask
With reference to Fig. 9, then calculation formula are as follows:
Wherein, dcFor under the premise of being interfered based on wall surface permanent magnet lower surface and workpiece minimum range, R be cylindrical workpiece
Radius, w are the width of climbing robot.
(2), the determination of adjusting angle.When climbing robot is walked along curved surface, absorbing unit needs to continuously adjust angle, fits
Answer curve form, it is ensured that itself is in maximum adsorption power state.The adjustment angle range of permanent magnet, which needs to calculate, to be determined, can neither
Too greatly can not be too small: the excessive permanent magnet that will lead to of angular range be contacted with workpiece surface, substantially increases frictional resistance, beyond electricity
Machine driving capability makes climbing robot difficulty in walking；Angle too small is then difficult to reach adjustment requirement.When specific calculating, it can choose
Operating condition when most dangerous working condition is analyzed namely climbing robot is along the cylindrical shell axis walking of cylindrical workpiece, please refers to figure
10, then calculation formula are as follows: θ=arcsin (b/2R), in formula, b is permanent magnet width, and R is cylindrical workpiece radius.
(3), the determination of mounting height.After the operating condition of permanent magnet angle adjustment, mounting height minimum value is d=dc
+dθ, dθFor permanent magnet difference in height, dθ=bsin θ.Namely permanent magnet terrain clearance cannot be less than the standard, to ensure the present invention
When working wall surface walking, no interference phenomenon.
Above-described is only the preferred embodiment of the application, and present invention is not limited to the above embodiments.It is appreciated that this
The other improvements and change that field technical staff directly exports or associates without departing from the spirit and concept in the present invention
Change, is considered as being included within protection scope of the present invention.
Claims (5)
1. a kind of non-contact wheeled climbing robot base apparatus, which is characterized in that the base apparatus includes vehicle frame, driving system
System and two groups of permanent magnetic suck components；The vehicle frame includes being located at two stringers of climbing robot two sides and climbing wall positioned at described
Two lower beams at robot both ends, each lower beam weld together with two stringers of two sides respectively；It is described
Drive system includes two driving motors, two driving wheels and two adjustable universal wheels, and described two driving wheel settings exist
Diagonal, the described two adjustable universal wheels of one of the vehicle frame be arranged in the vehicle frame another is diagonal；Described two drives
Dynamic motor is fixed on the vehicle frame, and each driving motor is separately connected and drives a driving wheel；Two groups of permanent magnetism
Absorbent module is separately positioned on the lower beam at the both ends of the vehicle frame, respectively includes permanent magnet in every group of permanent magnetic suck component,
It is spaced a predetermined distance between the permanent magnet and work wall surface, the work wall surface is the driving wheel and adjustable universal wheel institute
Determining plane.
2. climbing robot base apparatus according to claim 1, which is characterized in that the adjustable universal wheel includes turning
Seat, connecting plate, adjustable plate, spring and wheel body；The top of the connecting plate connects the swivel base, bottom connects the adjustable plate,
The swivel base and the connecting plate are rotatablely connected by the first rotation axis, and one end of the connecting plate and the adjustable plate passes through the
The second end of the rotation connection of two rotation axis, the adjustable plate connects the wheel body, and one end of the spring is fixed on the connection
On plate, the other end be fixed on the connecting plate and the adjustable plate connecting place；The adjustable universal wheel is solid by the swivel base
It is scheduled on the vehicle frame, first rotation axis is parallel to the work perpendicular to the work wall surface, second rotation axis
Wall surface, the connecting plate drives the wheel body to rotate around first rotation axis and realizes steering by the adjustable plate, described
Adjustable plate drives the wheel body to realize the lifting relative to the work wall surface around second rotation axis rotation.
3. climbing robot base apparatus according to claim 1, which is characterized in that in each permanent magnetic suck component
Including at least two absorbing units, each absorbing unit includes magnetic support, permanent magnet, at least two multi-directional balls and connection group
Part, the side of the magnetic support connect the lower beam of the vehicle frame by the connection component, and the other side of the magnetic support is provided with
The permanent magnet and at least two multi-directional ball, at least two multi-directional ball is distributed in the surrounding of the permanent magnet, described
At least two multi-directional balls protrude the preset distance relative to the plane where the permanent magnet, at least two multi-directional ball with
The work wall surface is in contact so that being spaced the preset distance between the permanent magnet and the work wall surface.
4. climbing robot base apparatus according to claim 3, which is characterized in that the surface encapsulation of the permanent magnet has
Rubber pad, the permanent magnet for being packaged with the rubber pad are fixed on the magnetic support by magnetic bracket, and the magnetic support is used and led
Magnetic material is made, and the magnetic bracket and the multi-directional ball are respectively adopted Antimagnetic material and are made.
5. climbing robot base apparatus according to claim 3 or 4, which is characterized in that the connection component uses bullet
Spring link mechanism is connected between the connection component and the magnetic support by bulb joint, and the bulb joint uses Antimagnetic
Material is made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811359783.7A CN109436119B (en) | 2018-11-15 | 2018-11-15 | Non-contact wheel type wall-climbing robot chassis device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811359783.7A CN109436119B (en) | 2018-11-15 | 2018-11-15 | Non-contact wheel type wall-climbing robot chassis device |
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| Publication Number | Publication Date |
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| CN109436119A true CN109436119A (en) | 2019-03-08 |
| CN109436119B CN109436119B (en) | 2020-02-07 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109969281A (en) * | 2019-04-30 | 2019-07-05 | 北京史河科技有限公司 | Climbing robot |
| CN110077483A (en) * | 2019-05-16 | 2019-08-02 | 哈尔滨工业大学 | A kind of negative-pressure adsorption robot and become adsorption capacity non-plane motion control method |
| CN110217301A (en) * | 2019-06-22 | 2019-09-10 | 北京博清科技有限公司 | Walking robot |
| CN110254548A (en) * | 2019-06-28 | 2019-09-20 | 北京史河科技有限公司 | A kind of climbing robot |
| CN110371210A (en) * | 2019-07-31 | 2019-10-25 | 上海酷酷机器人有限公司 | A kind of magnetic force robot |
| CN110548625A (en) * | 2019-08-26 | 2019-12-10 | 安徽相品智能科技有限公司 | sand blasting spraying robot |
| CN110814472A (en) * | 2019-10-22 | 2020-02-21 | 清华大学 | Master-slave type wall climbing welding robot system suitable for large steel structural member |
| CN110988121A (en) * | 2019-11-28 | 2020-04-10 | 合肥通用机械研究院有限公司 | Electromagnetic sound detection robot for storage tank |
| CN111674523A (en) * | 2020-06-04 | 2020-09-18 | 大连理工大学 | Eccentric universal translation magnetic wall-climbing robot for hull decontamination and working method |
| CN113619704A (en) * | 2021-08-27 | 2021-11-09 | 中国船舶科学研究中心 | Magnetic force self-adaptive amphibious wall-climbing robot |
| CN114013528A (en) * | 2021-11-01 | 2022-02-08 | 重庆大学 | Wall-climbing robot for walking operation of boiler water wall in thermal power plant |
| CN114101162A (en) * | 2021-10-08 | 2022-03-01 | 河北工业大学 | Wall climbing robot for cleaning jacket of ocean platform |
| CN115257993A (en) * | 2022-08-12 | 2022-11-01 | 广西科技大学 | Curved surface self-adaptive wheel-foot type wall-climbing robot capable of being used for K-TIG welding |
| CN115503845A (en) * | 2022-08-02 | 2022-12-23 | 中国船舶重工集团公司第七一三研究所 | Self-walking device for precision measurement of guide rail of marine equipment |
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| CN109969281A (en) * | 2019-04-30 | 2019-07-05 | 北京史河科技有限公司 | Climbing robot |
| CN110077483B (en) * | 2019-05-16 | 2021-10-19 | 哈尔滨工业大学 | Negative pressure adsorption robot and variable adsorption force curved surface motion control method |
| CN110077483A (en) * | 2019-05-16 | 2019-08-02 | 哈尔滨工业大学 | A kind of negative-pressure adsorption robot and become adsorption capacity non-plane motion control method |
| CN110217301A (en) * | 2019-06-22 | 2019-09-10 | 北京博清科技有限公司 | Walking robot |
| CN110254548A (en) * | 2019-06-28 | 2019-09-20 | 北京史河科技有限公司 | A kind of climbing robot |
| CN110371210A (en) * | 2019-07-31 | 2019-10-25 | 上海酷酷机器人有限公司 | A kind of magnetic force robot |
| CN110548625A (en) * | 2019-08-26 | 2019-12-10 | 安徽相品智能科技有限公司 | sand blasting spraying robot |
| CN110814472A (en) * | 2019-10-22 | 2020-02-21 | 清华大学 | Master-slave type wall climbing welding robot system suitable for large steel structural member |
| CN110988121A (en) * | 2019-11-28 | 2020-04-10 | 合肥通用机械研究院有限公司 | Electromagnetic sound detection robot for storage tank |
| CN111674523A (en) * | 2020-06-04 | 2020-09-18 | 大连理工大学 | Eccentric universal translation magnetic wall-climbing robot for hull decontamination and working method |
| CN111674523B (en) * | 2020-06-04 | 2022-03-04 | 大连理工大学 | Eccentric universal translation magnetic wall-climbing robot for hull decontamination and working method |
| CN113619704A (en) * | 2021-08-27 | 2021-11-09 | 中国船舶科学研究中心 | Magnetic force self-adaptive amphibious wall-climbing robot |
| CN114101162A (en) * | 2021-10-08 | 2022-03-01 | 河北工业大学 | Wall climbing robot for cleaning jacket of ocean platform |
| CN114101162B (en) * | 2021-10-08 | 2022-11-01 | 河北工业大学 | Wall climbing robot for cleaning jacket of ocean platform |
| CN114013528A (en) * | 2021-11-01 | 2022-02-08 | 重庆大学 | Wall-climbing robot for walking operation of boiler water wall in thermal power plant |
| CN115503845A (en) * | 2022-08-02 | 2022-12-23 | 中国船舶重工集团公司第七一三研究所 | Self-walking device for precision measurement of guide rail of marine equipment |
| CN115503845B (en) * | 2022-08-02 | 2023-09-05 | 中国船舶重工集团公司第七一三研究所 | Self-walking device for measuring precision of marine equipment guide rail |
| CN115257993A (en) * | 2022-08-12 | 2022-11-01 | 广西科技大学 | Curved surface self-adaptive wheel-foot type wall-climbing robot capable of being used for K-TIG welding |
| CN115257993B (en) * | 2022-08-12 | 2023-06-16 | 广西科技大学 | Curved surface self-adaptive wheel foot type wall climbing robot capable of being used for K-TIG welding |
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